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- W1566878083 abstract "Podhorodeski and Pittens (1992, 1994) and Podhorodeski (1992) defined a kinematically-simple (KS) layout as a manipulator layout that incorporates a spherical group of joints at the wrist with a main-arm comprised of successfully parallel or perpendicular joints with no unnecessary offsets or link lengths between joints. Having a spherical group of joints within the layouts ensures, as demonstrated by Pieper (1968), that a closed-form solution for the inverse displacement problem exists. Using the notation of possible joint axes directions shown in Figure 1 and arguments of kinematic equivalency and mobility of the layouts, Podhorodeski and Pittens (1992, 1994) showed that there are only five unique, revolute-only, main-arm joint layouts representative of all layouts belonging to the KS family. These layouts have joint directions CBE, CAE, BCE, BEF, and AEF and are denoted KS 1 to 5 in Figure 2." @default.
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- W1566878083 date "2006-12-01" @default.
- W1566878083 modified "2023-09-30" @default.
- W1566878083 title "A Complete Family of Kinematically-Simple Joint Layouts: Layout Models, Associated Displacement Problem Solutions and Applications" @default.
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- W1566878083 doi "https://doi.org/10.5772/5020" @default.
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